I was able to get past the "016-310 Restart Printer"message by holding down the menu key upon booting the DELL 5100cn printer. I was then prompted to insert a toner for each color despite having all the toners in place. All the toner cartridges were DELL except for a BLACK Media Sciences toner. I swapped out the toner cartridges with Media Sciences toner cartridges and was able to print to the printer. I still get the error message with the old toner in the printer when power cycling the printer.I was able to get past the "016-310 Restart Printer"message by holding down the menu key upon booting the DELL 5100cn printer. I was then prompted to insert a toner for each color despite having all the toners in place. All the toner cartridges were DELL except for a BLACK Media Sciences toner. I swapped out the toner cartridges with Media Sciences toner cartridges and was able to print to the printer. I still get the error message with the old toner in the printer when power cycling the printer.

The controller card on the 5100CN is located at the rear of the printer.
Rotate open the paper tray cover, remove the 3 screws securing the controller card assembly to the chassis. ( one at the bottom middle, one at each of the top two corners ), and slide the assembly towards you to remove.

NOTE: If you have a replacement Controller card that you are going to replace, you must migrate the existing NVRAM Chip from the old card to the new card. Even if the replacement card contains an NVRAM Chip, the old chip must be used in order to prevent an NVAM error.

Also ensure use of proper ESD Handling proceedures to prevent damage to the board and NVRAM Chip.

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The manual feeder is located at 4 on this webpage. I would say its in the front. but a picture is a lot better. then how I would describe it.http://support.dell.com/support/edocs/systems/5100cn/en/UG/index.html

The 016-317 on this printer refers to the printer not being able to communicate with the MCU board. This is what you should do. This was pulled from support.dell.com. Which is the same troubleshooting trees as the phone/internet agents use. If this doesn't solve your issue, you will more than likely need to update the firmware of the printer, or replace the board. STEP: Reseat the controller card on the 5100cn-series printer.Additional InformationCAUTION: Before you perform any of the
following steps, read the Precautionary Measures warning (located in
the Resources/Additional Resources section) for your personal safety
and to prevent damage to the computer system from electrostatic
discharge.
To reseat the controller card, perform the following steps:

Make sure that the printer is turned off and unplug all cables including the power cord from the rear of the printer.

Pull the tray rear cover so that the top edge tilts out, then lift the tray rear cover off its hinges. (Figure 1)

Figure 1 - Remove the Tray Rear Cover

Remove the three screws on the control board from the back side of the printer. (Figure 2)

Figure 2 - Remove the Three Screws

Remove and reinsert the controller card from the printer by the handles. (Figure 3)

Figure 3 - Reseat the Controller Card

Tighten the three screws on the control board on the back side of the printer.

This may not solve your problem but it did mine when I got the "reseat cartridge" error. I had inadvertently ordered the cartridge for the 5100cn, which looks exactly the same as the 5110cn and actually fits if you order the generic version (the Dell 5100cn cartridge looks like the 5110cn but doesn't quite fit).

So, first make sure that you ordered the 5110cn cartridge. (And if you need two opened 5100cn cartridges, I've got them up on ebay :( !!!!)